Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

control_msgs/GripperCommand.h@2:ab8333331642, 2018-11-02 (annotated)

Committer:
jvfausto
Date:
Fri Nov 02 21:48:22 2018 +0000
Revision:
2:ab8333331642
Parent:
0:9e9b7db60fd5 
Working towards twists

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_control_msgs_GripperCommand_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_control_msgs_GripperCommand_h
garyservin 0:9e9b7db60fd5 3
garyservin 0:9e9b7db60fd5 4 #include <stdint.h>
garyservin 0:9e9b7db60fd5 5 #include <string.h>
garyservin 0:9e9b7db60fd5 6 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 7 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 8
garyservin 0:9e9b7db60fd5 9 namespace control_msgs
garyservin 0:9e9b7db60fd5 10 {
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 class GripperCommand : public ros::Msg
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14 public:
garyservin 0:9e9b7db60fd5 15 typedef double _position_type;
garyservin 0:9e9b7db60fd5 16 _position_type position;
garyservin 0:9e9b7db60fd5 17 typedef double _max_effort_type;
garyservin 0:9e9b7db60fd5 18 _max_effort_type max_effort;
garyservin 0:9e9b7db60fd5 19
garyservin 0:9e9b7db60fd5 20 GripperCommand():
garyservin 0:9e9b7db60fd5 21 position(0),
garyservin 0:9e9b7db60fd5 22 max_effort(0)
garyservin 0:9e9b7db60fd5 23 {
garyservin 0:9e9b7db60fd5 24 }
garyservin 0:9e9b7db60fd5 25
garyservin 0:9e9b7db60fd5 26 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 27 {
garyservin 0:9e9b7db60fd5 28 int offset = 0;
garyservin 0:9e9b7db60fd5 29 union {
garyservin 0:9e9b7db60fd5 30 double real;
garyservin 0:9e9b7db60fd5 31 uint64_t base;
garyservin 0:9e9b7db60fd5 32 } u_position;
garyservin 0:9e9b7db60fd5 33 u_position.real = this->position;
garyservin 0:9e9b7db60fd5 34 *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 35 *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 36 *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 37 *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 38 *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 39 *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 offset += sizeof(this->position);
garyservin 0:9e9b7db60fd5 43 union {
garyservin 0:9e9b7db60fd5 44 double real;
garyservin 0:9e9b7db60fd5 45 uint64_t base;
garyservin 0:9e9b7db60fd5 46 } u_max_effort;
garyservin 0:9e9b7db60fd5 47 u_max_effort.real = this->max_effort;
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 0) = (u_max_effort.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 *(outbuffer + offset + 1) = (u_max_effort.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 2) = (u_max_effort.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 *(outbuffer + offset + 3) = (u_max_effort.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 52 *(outbuffer + offset + 4) = (u_max_effort.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 5) = (u_max_effort.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 *(outbuffer + offset + 6) = (u_max_effort.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 55 *(outbuffer + offset + 7) = (u_max_effort.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 56 offset += sizeof(this->max_effort);
garyservin 0:9e9b7db60fd5 57 return offset;
garyservin 0:9e9b7db60fd5 58 }
garyservin 0:9e9b7db60fd5 59
garyservin 0:9e9b7db60fd5 60 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 61 {
garyservin 0:9e9b7db60fd5 62 int offset = 0;
garyservin 0:9e9b7db60fd5 63 union {
garyservin 0:9e9b7db60fd5 64 double real;
garyservin 0:9e9b7db60fd5 65 uint64_t base;
garyservin 0:9e9b7db60fd5 66 } u_position;
garyservin 0:9e9b7db60fd5 67 u_position.base = 0;
garyservin 0:9e9b7db60fd5 68 u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 69 u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 70 u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 71 u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 72 u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 73 u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 74 u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 75 u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 76 this->position = u_position.real;
garyservin 0:9e9b7db60fd5 77 offset += sizeof(this->position);
garyservin 0:9e9b7db60fd5 78 union {
garyservin 0:9e9b7db60fd5 79 double real;
garyservin 0:9e9b7db60fd5 80 uint64_t base;
garyservin 0:9e9b7db60fd5 81 } u_max_effort;
garyservin 0:9e9b7db60fd5 82 u_max_effort.base = 0;
garyservin 0:9e9b7db60fd5 83 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 84 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 85 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 86 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 87 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 88 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 89 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 90 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 91 this->max_effort = u_max_effort.real;
garyservin 0:9e9b7db60fd5 92 offset += sizeof(this->max_effort);
garyservin 0:9e9b7db60fd5 93 return offset;
garyservin 0:9e9b7db60fd5 94 }
garyservin 0:9e9b7db60fd5 95
garyservin 0:9e9b7db60fd5 96 const char * getType(){ return "control_msgs/GripperCommand"; };
garyservin 0:9e9b7db60fd5 97 const char * getMD5(){ return "680acaff79486f017132a7f198d40f08"; };
garyservin 0:9e9b7db60fd5 98
garyservin 0:9e9b7db60fd5 99 };
garyservin 0:9e9b7db60fd5 100
garyservin 0:9e9b7db60fd5 101 }
garyservin 0:9e9b7db60fd5 102 #endif